Wireless communication involving unmanned aerial vehicles(UAVs)is expected to play an important role in future wireless networks.However,different from conventional terrestrial communication systems,UAVs typically hav...Wireless communication involving unmanned aerial vehicles(UAVs)is expected to play an important role in future wireless networks.However,different from conventional terrestrial communication systems,UAVs typically have rather limited onboard energy on one hand,and require additional flying energy consumption on the other hand.This renders energy-efficient UAV communication with smart energy expenditure of paramount importance.In this paper,via extensive flight experiments,we aim to firstly validate the recently derived theoretical energy model for rotary-wing UAVs,and then develop a general model for those complicated flight scenarios where rigorous theoretical model derivation is quite challenging,if not impossible.Specifically,we first investigate how UAV power consumption varies with its flying speed for the simplest straight-and-level flight.With about 12,000 valid power-speed data points collected,we first apply the model-based curve fitting to obtain the modelling parameters based on the theoretical closed-form energy model in the existing literature.In addition,in order to exclude the potential bias caused by the theoretical energy model,the obtained measurement data is also trained using a model-free deep neural network.It is found that the obtained curve from both methods can match quite well with the theoretical energy model.Next,we further extend the study to arbitrary 2-dimensional(2-D)flight,where,to our best knowledge,no rigorous theoretical derivation is available for the closed-form energy model as a function of its flying speed,direction,and acceleration.To fill the gap,we first propose a heuristic energy model for these more complicated cases,and then provide experimental validation based on the measurement results for circular level flight.展开更多
基金This work was supported in part by the Program for Innovative Talents and Entrepreneur in Jiangsu Province under Grant 1104000402in part by the Research Fund by Nanjing Government under Grant 1104000396+4 种基金in part by the National Science Foundation of China under Grants 62001109&61921004in part by the China Postdoctoral Science Foundation under Grants BX20200083&2020M681456in part by the Fundamental Research Funds for the Central Universities of China under Grants 3204002004A2&2242020R20011in part by the open research fund of the National and Local Joint Engineering Laboratory of RF Integration and Micro-Assembly Technology under Grant No.KFJJ20180205in part by the NUPTSF Grants No.NY218113&No.NY219077.
文摘Wireless communication involving unmanned aerial vehicles(UAVs)is expected to play an important role in future wireless networks.However,different from conventional terrestrial communication systems,UAVs typically have rather limited onboard energy on one hand,and require additional flying energy consumption on the other hand.This renders energy-efficient UAV communication with smart energy expenditure of paramount importance.In this paper,via extensive flight experiments,we aim to firstly validate the recently derived theoretical energy model for rotary-wing UAVs,and then develop a general model for those complicated flight scenarios where rigorous theoretical model derivation is quite challenging,if not impossible.Specifically,we first investigate how UAV power consumption varies with its flying speed for the simplest straight-and-level flight.With about 12,000 valid power-speed data points collected,we first apply the model-based curve fitting to obtain the modelling parameters based on the theoretical closed-form energy model in the existing literature.In addition,in order to exclude the potential bias caused by the theoretical energy model,the obtained measurement data is also trained using a model-free deep neural network.It is found that the obtained curve from both methods can match quite well with the theoretical energy model.Next,we further extend the study to arbitrary 2-dimensional(2-D)flight,where,to our best knowledge,no rigorous theoretical derivation is available for the closed-form energy model as a function of its flying speed,direction,and acceleration.To fill the gap,we first propose a heuristic energy model for these more complicated cases,and then provide experimental validation based on the measurement results for circular level flight.
